Multiple rocket launchers are vital components in providing fire potential of combat units. Their mobility and target hitting accuracy determinatively impact the combat result. Existing guidance system of array of guides of a combat machine BM-21 is a complicated, inertial system with multiple feedbacks, characterized by back-lashes, gaps, and by limited elasticity of some elements of a mechanical part. It has to ensure required static and dynamic indices (i.e., speed of operation and accuracy of positioning of array of guides). That means a realization of a law of array of guides motion with no overshoots (no oscillations), minimizing a positioning time for a predefined position. Current electromechanical positioning system of BM-21 does not meet requirements of speed of operation, as well as of the accuracy of array of guides positioning.
The paper elaborates the system solutions for the modernization of the abovementioned system. These are namely: replacement of the electromachine amplifier by the power semiconductor converter; utilizing a triple-feedback subordinate positioning control of a guidance angle of an array of guides. Linear-parabolic position controller and fuzzy corrector having a positioning angle error and its derivative as input parameters have been utilized. The proposed control system of the array of guides positioning meets the requirements for the positioning accuracy and dynamics, for structural features of the kinematic scheme, as well as for the nature of inner effects, and for parametric variations of the system.
The elements of power equipment have been selected; a block diagram of the positioning electromechanical system of a lifting mechanism of a combat machine has been developed. The model of a fuzzy control has been justified. The methodology of the fuzzy-corrector design based on the experimentally-obtained reactions of the system on the step inputs has been proposed. The proposed solutions (to a great extent) provide the properties of invariance to the parametric and coordinate disturbances of a designed system. Consequently, they enable the realization of optimal (in the sense of speed of operation and positioning accuracy) law of motion of array of guides while positioning.
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